Compliant Remote Center Motion Mechanism for Minimally Invasive Surgical Robots
06 Apr 2018-pp 1-5
TL;DR: In this article, the authors presented conceptual design of 2-DOF isosceles trapezoidal remote center motion mechanism using mechanically generated RCM. The use of compliant links over rigid link mechanism brings the precision in manipulation.
Abstract: A high precision or surgeon skills are required in some of the precision procedures such as micro-scale minimally invasive surgeries. Robotic manipulators are being explored for carrying out surgeries with minimal invasion, outstanding precision and stability of the tool. Major challenges in developing such systems are motion of the tool with “mechanical” remote center and preserving surgical feel of the surgeon. This paper presents conceptual design of 2-DOF isosceles trapezoidal remote center motion mechanism. The proposed concepts use mechanically generated RCM. The compact and handy design helps to preserve the ‘surgical feel’. The use of compliant links over rigid link mechanism brings the precision in manipulation. Extensive, nonlinear FE analysis demonstrates the accuracy of the RCM. Further the actuation method, sensor scheme and control scheme are presented as an example case.
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01 Jan 2022
TL;DR: In this paper , a robot that is controlled by hand gestures using the Inertial Measurement Unit sensors is proposed to increase the productivity and efficiency of an operation besides minimizing the efforts, time, and labor.
Abstract: Automation technology plays an increasingly major role in providing higher efficiency in almost all fields of knowledge. One of the sectors of automation is Robotics, which involves building mechanical and electronic structures that would run on computer codes. These codes with technical advancement can further be upgraded to machine learning and artificial information algorithms. Robotics has the potential to bridge the gap between the physical and the cybernetic world. The prime objective of this paper is to put forward a robot that can increase the productivity and efficiency of an operation besides minimizing the efforts, time, and labor. Alongside, the arm also ensures the safety of the operator. The paper initially discusses the basics of robots and a few significant terminologies related to them. There are diverse ways to control a robot, one of them being gesture control. The researcher proposes to build a robot that is controlled by hand gestures using the Inertial Measurement Unit sensors. Further, a discussion is also made on the mechanical design with CAD modeling, electronic systems, and code for controlling the robotic arm with sensor inputs.
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24 Apr 2000
TL;DR: daVinci/sup TM/, a surgical telerobot designed to provide enhanced dexterity to doctors performing minimally invasive surgical procedures is described, along with a discussion of the resulting computational architecture and recent clinical applications.
Abstract: The paper briefly describes daVinci/sup TM/, a surgical telerobot designed to provide enhanced dexterity to doctors performing minimally invasive surgical procedures. The rationale for a full 7-degree-of-freedom master-slave system is presented along with a discussion of the resulting computational architecture and recent clinical applications.
999 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...Some of popular examples are : the Da Vinci robotic system from Intuitive Surgical, Zeus robotic system from computer motion and some other prototypes shown in references [4-6] are designed as remote center devices....
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13 Oct 1998
TL;DR: The Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS) is presented and suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments is demonstrated.
Abstract: This paper presents the Black Falcon, an eight degree-of-freedom teleoperator slave with a dextrous wrist for minimally invasive surgery (MIS). We show how teleoperation can address several key problems in MIS by increasing dexterity and degrees of freedom, by giving the surgeon some force feedback to feel instrument-tissue interactions and by eliminating geometric discrepancies between actual and observed tool motions. We discuss relevant design constraints, summarize the mechanism design and give data showing the quality of force reflection achieved. We demonstrate suturing along arbitrarily oriented suture lines in animal tissue, a task essentially impossible using current instruments.
320 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...Some of popular examples are : the Da Vinci robotic system from Intuitive Surgical, Zeus robotic system from computer motion and some other prototypes shown in references [4-6] are designed as remote center devices....
[...]
19 Sep 1999
TL;DR: A majority of retinal surgery is probably performed without the surgeon being able to “feel” interactions between retinal tissue and the surgical tool, indicating that relying on visual feedback alone increases the length of manual manipulation tasks and reduces task accuracy.
Abstract: Purpose: Vitreoretinal surgery involves the manipulation of delicate retinal membranes with a required surgical accuracy often on the order of tens of microns, a scale at or near the limit of human positional ability. In addition, forces imposed by the tissue on the surgical cool are exceedingly small. Here we investigate the magnitude of forces generated during retinal surgery in cadaveric porcine eyes and compare the results with the magnitude of forces discernable by retinal surgeons. This data will be used as a design guideline for robotic surgical augmentation systems currently under development Methods: The study was performed in two phases. First, retinal surgeons manipulated the retina of porcine cadaver eyes with a calibrated 1-axis force sensing retinal pick while data was simultaneously recorded. In the second phase, blindfolded subjects held the pick and were instructed to press a button whenever an “event” was felt. Events were generated by slowly tapping the end of the pick with varying force while both the magnitudes of forces applied and the responses of the subjects we recorded. The magnitudes of forces generated during retinal surgery were then compared with those that could be discerned by the subjects. Results: Roughly 75% of all forces measured during retinal microsurgery were found to be less than 7.5 mN in magnitude, however only 19.3 ± 8.1% (N=492) of events generated at this level could be felt by the subjects. Conclusions: The results of this study indicate that a majority of retinal surgery is probably performed without the surgeon being able to “feel” interactions between retinal tissue and the surgical tool. Prior studies have indicated that relying on visual feedback alone increases the length of manual manipulation tasks and reduces task accuracy. The lack of tactile sensation during retinal surgery similarly could adversely affect surgical outcome.
167 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...are delicate and complex because of improper surgical inaccessibility [1]....
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Dissertation•
01 Dec 1998
106 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...In comparison, the dexterous workspace produced through computer control can violate the constraint under noisy situations and can be very dangerous in some cases of MIS like vitreoretinal surgery [8-10]....
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17 Jun 2009
TL;DR: This microsurgical system that is developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.
Abstract: This paper describes the development and evaluation of a parallel prototype robot for vitreoretinal surgery where physiological hand tremor limits performance. The manipulator was specifically designed to meet requirements such as size, precision, and sterilization; this has six-degree-of-freedom parallel architecture and provides positioning accuracy with micrometer resolution within the eye. The manipulator is controlled by an operator with a “master manipulator” consisting of multiple joints. Results of the in vitro experiments revealed that when compared to the manual procedure, a higher stability and accuracy of tool positioning could be achieved using the prototype robot. This microsurgical system that we have developed has superior operability as compared to traditional manual procedure and has sufficient potential to be used clinically for vitreoretinal surgery.
97 citations
"Compliant Remote Center Motion Mech..." refers background in this paper
...In MIS, the surgeon has to manipulate surgical tools about small incision trough trocar [2]....
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